Position control of a single-link robot-arm using a multi-loop PI controller

Mehmet Turan Söylemez; Metin Gökaşan; O. Seta Boǧosyan

Position control of a single-link robot-arm using a multi-loop PI controller

Mehmet Turan Söylemez^*
, Metin Gökaşan
, O. Seta Boǧosyan

^*Bu çalışma için yazışmadan sorumlu yazar

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Konferansa katkı › Yazı › bilirkişi

7 Atıf (Scopus)

Özet

In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the closed-loop system arbitrarily and guarantee that the remaining pole is not effecting the performance of the system. The freedom in design is also used to restrict the control signal upto a certain level, to reject disturbances and to increase robustness for parametric uncertainties.

Orijinal dil	İngilizce
Sayfalar	1001-1006
Sayfa sayısı	6
Yayın durumu	Yayınlandı - 2003
Etkinlik	Proceedings of 2003 IEEE Conference on Control Applications - Istanbul, Turkey Süre: 23 Haz 2003 → 25 Haz 2003

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	Proceedings of 2003 IEEE Conference on Control Applications
Ülke/Bölge	Turkey
Şehir	Istanbul
Periyot	23/06/03 → 25/06/03

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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title = "Position control of a single-link robot-arm using a multi-loop PI controller",

abstract = "In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the closed-loop system arbitrarily and guarantee that the remaining pole is not effecting the performance of the system. The freedom in design is also used to restrict the control signal upto a certain level, to reject disturbances and to increase robustness for parametric uncertainties.",

author = "S{\"o}ylemez, \{Mehmet Turan\} and Metin G{\"o}ka{\c s}an and Boǧosyan, \{O. Seta\}",

year = "2003",

language = "English",

pages = "1001--1006",

note = "Proceedings of 2003 IEEE Conference on Control Applications ; Conference date: 23-06-2003 Through 25-06-2003",

}

TY - CONF

T1 - Position control of a single-link robot-arm using a multi-loop PI controller

AU - Söylemez, Mehmet Turan

AU - Gökaşan, Metin

AU - Boǧosyan, O. Seta

PY - 2003

Y1 - 2003

N2 - In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the closed-loop system arbitrarily and guarantee that the remaining pole is not effecting the performance of the system. The freedom in design is also used to restrict the control signal upto a certain level, to reject disturbances and to increase robustness for parametric uncertainties.

AB - In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the closed-loop system arbitrarily and guarantee that the remaining pole is not effecting the performance of the system. The freedom in design is also used to restrict the control signal upto a certain level, to reject disturbances and to increase robustness for parametric uncertainties.

UR - https://www.scopus.com/pages/publications/0344926615

M3 - Paper

AN - SCOPUS:0344926615

SP - 1001

EP - 1006

T2 - Proceedings of 2003 IEEE Conference on Control Applications

Y2 - 23 June 2003 through 25 June 2003

ER -

Position control of a single-link robot-arm using a multi-loop PI controller

Özet

???event.eventtypes.event.conference???

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap